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cs.CV2021
On the Instability of Relative Pose Estimation and RANSAC's Role
Hongyi Fan, Joe Kileel, Benjamin Kimia
In this paper we study the numerical instabilities of the 5- and 7-point problems for essential and fundamental matrix estimation in multiview geometry. In both cases we characteri…
cs.CV2021
Benchmarking Pedestrian Odometry: The Brown Pedestrian Odometry Dataset (BPOD)
David Charatan, Hongyi Fan, Benjamin Kimia
We present the Brown Pedestrian Odometry Dataset (BPOD) for benchmarking visual odometry algorithms in head-mounted pedestrian settings. This dataset was captured using synchronize…
cs.CV2021
GPU-Based Homotopy Continuation for Minimal Problems in Computer Vision
Chiang-Heng Chien, Hongyi Fan, Ahmad Abdelfattah +3
Systems of polynomial equations arise frequently in computer vision, especially in multiview geometry problems. Traditional methods for solving these systems typically aim to elimi…